A self-testing method of a frequency-modulated continuous-wave(FMCW) radar device. A transmission signal having an object detection signal and a self-test signal superimposed on the object detection signal is transmitted. The self-test signal represents at least one virtual target. A reception signal is received. The reception signal is a received version of the transmission signal. Presence of the at least one virtual target in the reception signal is determined. A lack of presence of the virtual target in the reception signal provides an indication of hardware failure of the FMCW radar device.